CN117814965A

CN117814965A - Femoral prosthesis implantation device and electronic equipment

Info

Publication number: CN117814965A
Application number: CN202211184789.1A
Authority: CN
Inventors: 王宝杰
Original assignee: Tinavi Medical Technologies Co Ltd
Current assignee: Tinavi Medical Technologies Co Ltd
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2024-04-05

Abstract

The invention provides a femoral prosthesis implantation device, comprising: the construction unit combines the femoral prosthesis and pelvis in the first hip joint three-dimensional model according to positions of a plurality of points selected on a real femur in operation and the first hip joint three-dimensional model constructed based on the three-dimensional lower limb medical image before operation; the rotation unit performs femur rotation treatment on the combined second hip joint three-dimensional model to obtain a third hip joint three-dimensional model; the prediction unit predicts the length of the lower limb based on the third hip joint three-dimensional model, and the control unit controls the implantation operation of the femoral prosthesis to be executed according to the length of the lower limb and the preset length of the lower limb determined based on the first hip joint three-dimensional model before operation. Thus, the implantation operation of the femoral prosthesis is controlled and executed based on the length of the lower limb in the operation and the preset length of the lower limb planned before the operation, and the accuracy of the femoral prosthesis implantation is improved.

Description

Femoral prosthesis implantation device and electronic equipment

Technical Field

The invention relates to the technical field of medical treatment, in particular to a femoral prosthesis implantation device.

Background

Hip joint replacement is a common operation for treating hip diseases clinically, is an effective clinical operation for treating severe hip pain, deformity and dysfunction, and is widely developed at home and abroad.

After the hip replacement operation, the patient is easy to have the problem of unequal lengths of the two lower limbs. To avoid this problem, it is often necessary to palpation the distal femur or ankle joint during surgery while the patient is supine to make a manual measurement of the length of the lower limb, and to perform femoral prosthesis implantation in combination with the measured length of the lower limb.

However, the above method has limitations, such that the accuracy of the manually measured lower limb length is low, and thus, the femoral prosthesis implantation is performed in combination with the lower limb length with low accuracy, which results in low accuracy of the femoral prosthesis implantation.

Disclosure of Invention

The invention provides a femoral prosthesis implantation device which can jointly control and execute the femoral prosthesis implantation operation based on the lower limb length predicted in operation and the preset lower limb length planned before operation, thereby effectively improving the femoral prosthesis implantation accuracy.

The invention provides a method for implanting a femoral prosthesis, which can comprise the following steps:

combining a femoral prosthesis and pelvis in the first hip joint three-dimensional model according to positions of a plurality of points selected on a real femur in operation and a first hip joint three-dimensional model constructed based on three-dimensional lower limb medical images before operation to obtain a second hip joint three-dimensional model;

Performing femur rotation treatment on the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model;

predicting a lower limb length based on the third hip joint three-dimensional model;

and controlling the implantation operation of the femoral prosthesis to be executed according to the length of the lower limb and the preset length of the lower limb which is determined based on the first hip joint three-dimensional model before operation.

According to the method for implanting the femoral prosthesis provided by the invention, the method for predicting the length of the lower limb based on the third hip joint three-dimensional model comprises the following steps:

if the first three-dimensional model of the hip joint is a three-dimensional model of the hip joint which does not execute the correcting operation, enabling a force line of the three-dimensional model of the third hip joint to be perpendicular to a target plane, and determining a distance from a small tuberosity of the three-dimensional model of the third hip joint to the target plane as the length of the lower limb; the target plane is a plane which passes through anterior superior iliac spines points on the left side and the right side of the third hip joint three-dimensional model and is perpendicular to a coronal plane of the three-dimensional lower limb medical image;

or,

if the first three-dimensional model of the hip joint is the three-dimensional model of the hip joint after the correction operation is executed, the force line of the three-dimensional model of the hip joint is vertical to the cross section of the three-dimensional medical image of the lower limb, and the distance between the cross sections of the plane from the small tuberosity of the three-dimensional model of the hip joint to the anterior superior iliac spine points on the left side and the right side is determined as the length of the lower limb.

According to the method for implanting the femoral prosthesis provided by the invention, the first hip joint three-dimensional model is a hip joint three-dimensional model after performing the correcting operation, and the method further comprises the following steps:

performing hip joint segmentation on the three-dimensional lower limb medical image, and reconstructing a hip joint three-dimensional model based on a segmentation result to obtain a reconstructed hip joint three-dimensional model;

performing a correcting operation on the reconstructed three-dimensional model of the hip joint according to anterior-superior iliac spines points on the left side and the right side of the reconstructed three-dimensional model of the hip joint to obtain the three-dimensional model of the first hip joint; wherein, a connecting line between anterior superior iliac spine points on the left side and the right side of the first hip joint three-dimensional model is parallel to an X axis of the three-dimensional lower limb medical image and parallel to a coronal plane of the three-dimensional lower limb medical image; or, performing a correcting operation on the reconstructed three-dimensional model of the hip joint according to the anterior superior iliac spine points and pubic symphysis points on the left side and the right side of the reconstructed three-dimensional model of the hip joint to obtain the three-dimensional model of the first hip joint; the connecting line between the anterior superior iliac spine points on the left side and the right side of the first hip joint three-dimensional model is parallel to the X axis of the three-dimensional lower limb medical image, and the plane formed by the anterior superior iliac spine points and the pubic symphysis points on the left side and the right side is parallel to the coronal plane of the three-dimensional lower limb medical image.

According to the method for implanting the femoral prosthesis provided by the invention, the femoral rotation processing is performed on the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model, and the method comprises the following steps:

if the acetabular prosthesis is implanted, determining the rotation center of the femur according to the rotation center of the acetabular cup of the acetabular prosthesis, the offset distance of the liner along the normal direction of the acetabular cup and the offset distance of the ball head along the normal direction of the acetabular cup.

And performing femoral rotation treatment on the second hip joint three-dimensional model according to the femoral rotation center to obtain the third hip joint three-dimensional model.

According to the method for implanting the femoral prosthesis provided by the invention, according to the rotation center of the acetabular cup of the acetabular prosthesis, the offset distance of the liner along the normal direction of the acetabular cup and the offset distance of the ball head along the normal direction of the acetabular cup, the rotation center of the femur is determined, and the method comprises the following steps:

the femoral center of rotation is determined from p=p1+p2+p3.

Wherein P represents the femur rotation center, P1 represents the cup rotation center, P2 represents the offset distance of the liner along the cup normal direction, and P3 represents the offset distance of the ball head along the cup normal direction.

According to the method for implanting the femoral prosthesis provided by the invention, the femoral prosthesis and pelvis in the first hip joint three-dimensional model are combined according to positions of a plurality of points selected on a real femur in operation and a first hip joint three-dimensional model constructed based on three-dimensional lower limb medical images before operation, and the method comprises the following steps:

A registration matrix of the real femur to the first hip three-dimensional model is determined from the locations of the plurality of points selected intraoperatively on the real femur and the first hip three-dimensional model.

And determining the implantation position and the implantation angle of the femoral prosthesis under the first hip joint three-dimensional model according to the implantation position and the implantation angle of the femoral prosthesis on the real femur and the registration matrix.

Combining the femoral prosthesis with the pelvis in the first hip joint three-dimensional model according to the implantation position and the implantation angle of the femoral prosthesis in the first hip joint three-dimensional model.

According to the method for implanting the femoral prosthesis provided by the invention, the implantation operation of the femoral prosthesis is controlled to be executed according to the length of the lower limb and the preset length of the lower limb determined based on the first hip joint three-dimensional model before operation, and the method comprises the following steps:

and judging whether the difference value between the length of the lower limb and the length of the preset lower limb is smaller than a preset threshold value.

And if the difference value between the length of the lower limb and the length of the preset lower limb is smaller than or equal to a preset threshold value, controlling the implantation operation of the femoral prosthesis based on the implantation position and the implantation angle of the femoral prosthesis preset before operation.

If the difference value between the length of the lower limb and the length of the preset lower limb is larger than a preset threshold value, replacing at least one of the femoral prosthesis, the implantation position, the implantation angle, the bulb and the lining in operation; and re-predicting the new lower limb length based on the adjusted three-dimensional model of the hip joint until the difference value between the re-determined lower limb length and the preset lower limb length is smaller than a preset threshold value, and controlling the implantation operation of the femoral prosthesis to be executed based on the implantation position and the implantation angle corresponding to the implantation position and the implantation angle of the femoral prosthesis when the difference value is smaller than the preset threshold value.

According to the method for implanting the femoral prosthesis provided by the invention, the registration matrix from the real femur to the first hip joint three-dimensional model is determined according to the positions of a plurality of points selected on the real femur in operation and the first hip joint three-dimensional model, and the method comprises the following steps:

and determining a coarse registration matrix of the real femur to the first hip joint three-dimensional model by adopting a rigid registration algorithm according to the positions of a first preset number of points selected on the real femur in operation.

Determining a fine registration matrix of the real femur to the first hip joint three-dimensional model according to the coarse registration matrix; wherein the fine registration matrix is the registration matrix.

determining a fine registration matrix from the real femur to the first hip joint three-dimensional model by adopting a nearest iteration algorithm according to the positions of a second preset number of points selected on the real femur in operation; wherein the fine registration matrix is the registration matrix.

According to the method for implanting a femoral prosthesis provided by the invention, if the first three-dimensional model of the hip joint is a three-dimensional model of the hip joint which does not perform the correcting operation, the method further comprises:

performing hip joint segmentation on the three-dimensional lower limb medical image to obtain a segmentation result; and constructing the first hip joint three-dimensional model based on the segmentation result.

The present invention provides an implant device of a femoral prosthesis, which may include:

the construction unit is used for combining the femur prosthesis and pelvis in the first hip joint three-dimensional model according to positions of a plurality of points selected on a real femur in an operation and the first hip joint three-dimensional model constructed based on three-dimensional lower limb medical images before the operation to obtain a second hip joint three-dimensional model.

And the rotating unit is used for performing femoral rotation treatment on the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model.

And the prediction unit is used for predicting the length of the lower limb based on the third hip joint three-dimensional model.

And the control unit is used for controlling the implantation operation of the femoral prosthesis to be executed according to the length of the lower limb and the preset length of the lower limb which is determined based on the first hip joint three-dimensional model before operation.

According to the femoral prosthesis implantation device provided by the invention, the prediction unit is specifically configured to determine the distance between the small tuberosity of the third hip joint three-dimensional model and the target plane as the length of the lower limb if the first hip joint three-dimensional model is a hip joint three-dimensional model in which no correction operation is performed; the target plane is a plane which passes through anterior superior iliac spines points on the left side and the right side of the third hip joint three-dimensional model and is perpendicular to a coronal plane of the three-dimensional lower limb medical image;

or,

According to the implantation device of the femoral prosthesis, the first hip joint three-dimensional model is the hip joint three-dimensional model after performing the correcting operation, and the device further comprises a reconstruction unit and a correcting unit.

The reconstruction unit is used for performing hip joint segmentation on the three-dimensional lower limb medical image, reconstructing a hip joint three-dimensional model based on the segmentation result, and obtaining a reconstructed hip joint three-dimensional model.

The correcting unit is used for executing correcting operation on the reconstructed three-dimensional model of the hip joint according to the front upper spinal points of the left side and the right side of the reconstructed three-dimensional model of the hip joint to obtain the three-dimensional model of the first hip joint; wherein, a connecting line between anterior superior iliac spine points on the left side and the right side of the first hip joint three-dimensional model is parallel to an X axis of the three-dimensional lower limb medical image and parallel to a coronal plane of the three-dimensional lower limb medical image; or, performing a correcting operation on the reconstructed three-dimensional model of the hip joint according to the anterior superior iliac spine points and pubic symphysis points on the left side and the right side of the reconstructed three-dimensional model of the hip joint to obtain the three-dimensional model of the first hip joint; the connecting line between the anterior superior iliac spine points on the left side and the right side of the first hip joint three-dimensional model is parallel to the X axis of the three-dimensional lower limb medical image, and the plane formed by the anterior superior iliac spine points and the pubic symphysis points on the left side and the right side is parallel to the coronal plane of the three-dimensional lower limb medical image.

According to the device for implanting the femoral prosthesis, provided by the invention, the rotating unit is particularly used for determining the rotation center of the femur according to the offset distance of the liner along the normal direction of the acetabular cup and the offset distance of the ball head along the normal direction of the acetabular cup if the acetabular prosthesis is implanted; and performing femoral rotation treatment on the second hip joint three-dimensional model according to the femoral rotation center to obtain the third hip joint three-dimensional model.

According to the implantation device of the femoral prosthesis provided by the invention, the rotation unit is particularly used for determining the rotation center of the femur according to P=P1+P2+P3.

According to the implantation device of the femoral prosthesis, the construction unit is specifically used for determining a registration matrix from a real femur to the first hip joint three-dimensional model according to positions of a plurality of points selected on the real femur in an operation and the first hip joint three-dimensional model; determining the implantation position and the implantation angle of the femoral prosthesis under a first hip joint three-dimensional model according to the implantation position and the implantation angle of the femoral prosthesis on the real femur and the registration matrix; combining the femoral prosthesis with the pelvis in the first hip joint three-dimensional model according to the implantation position and the implantation angle of the femoral prosthesis in the first hip joint three-dimensional model.

According to the femoral prosthesis implantation device provided by the invention, the control unit is specifically used for judging whether the difference value between the length of the lower limb and the length of the preset lower limb is smaller than a preset threshold value; if the difference value between the length of the lower limb and the length of the preset lower limb is smaller than or equal to a preset threshold value, controlling the implantation operation of the femoral prosthesis based on the implantation position and the implantation angle of the femoral prosthesis preset before operation; if the difference value between the length of the lower limb and the length of the preset lower limb is larger than a preset threshold value, replacing at least one of the femoral prosthesis, the implantation position, the implantation angle, the bulb and the lining in operation; and re-predicting the new lower limb length based on the adjusted three-dimensional model of the hip joint until the difference value between the re-determined lower limb length and the preset lower limb length is smaller than a preset threshold value, and controlling the implantation operation of the femoral prosthesis to be executed based on the implantation position and the implantation angle corresponding to the implantation position and the implantation angle of the femoral prosthesis when the difference value is smaller than the preset threshold value.

According to the implantation device of the femoral prosthesis, the construction unit is specifically used for determining a coarse registration matrix from the real femur to the first hip joint three-dimensional model by adopting a rigid registration algorithm according to the positions of a first preset number of points selected on the real femur in an operation; determining a fine registration matrix from the real femur to the first hip joint three-dimensional model according to the coarse registration matrix; wherein the fine registration matrix is the registration matrix.

According to the implantation device of the femoral prosthesis, the construction unit is specifically used for determining a fine registration matrix from the real femur to the first hip joint three-dimensional model by adopting a nearest iteration algorithm according to the positions of a second preset number of points selected on the real femur in an operation; wherein the fine registration matrix is the registration matrix.

According to the femoral prosthesis implantation device provided by the invention, if the first three-dimensional model of the hip joint is a three-dimensional model of the hip joint which does not perform the correcting operation, the construction unit is further configured to:

The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method of implanting a femoral prosthesis as described in any of the above when executing the program.

The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of implanting a femoral prosthesis as described in any of the above.

The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of implanting a femoral prosthesis as described in any of the above.

The present invention provides an implant device for a femoral prosthesis, the implant device comprising: the construction unit combines the femoral prosthesis and pelvis in the first hip joint three-dimensional model according to positions of a plurality of points selected on a real femur in operation and the first hip joint three-dimensional model constructed based on the three-dimensional lower limb medical image before operation; the rotation unit performs femur rotation treatment on the combined second hip joint three-dimensional model to obtain a third hip joint three-dimensional model; the prediction unit predicts the length of the lower limb based on the third hip joint three-dimensional model, and the control unit controls the implantation operation of the femoral prosthesis to be executed according to the length of the lower limb and the preset length of the lower limb determined based on the first hip joint three-dimensional model before operation. Thus, the implantation operation of the femoral prosthesis is controlled and executed based on the length of the lower limb in the operation and the preset length of the lower limb planned before the operation, and the accuracy of the femoral prosthesis implantation is improved.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a prior art pelvis configuration;

FIG. 2 is a schematic view of a femur in accordance with the prior art;

FIG. 3 is a schematic view of a distal femoral center of the prior art;

fig. 4 is a flowchart of a method for implanting a femoral prosthesis according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a three-dimensional lower limb medical image without performing a correcting operation according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a three-dimensional lower limb medical image for performing a righting operation according to an embodiment of the present invention;

FIG. 7 is a schematic illustration of selecting a corresponding plurality of points on a real femur in accordance with an embodiment of the present invention;

FIG. 8 is a schematic illustration of another alternative embodiment of the present invention for selecting a corresponding plurality of points on a real femur;

FIG. 9 is a schematic view of a femoral neck probe according to an embodiment of the present invention;

FIG. 10 is a schematic view of a femur and acetabulum, in accordance with an embodiment of the present invention;

FIG. 11 is a schematic diagram of a pre-operative planning result according to an embodiment of the present invention;

FIG. 12 is a schematic illustration of an intraoperative predicted lower limb length provided by an embodiment of the present invention;

fig. 13 is a schematic structural view of an implanting device for a femoral prosthesis according to an embodiment of the present invention;

Fig. 14 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In embodiments of the present invention, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: there are three cases, a alone, a and B together, and B alone, wherein a, B may be singular or plural. In the text description of the present invention, the character "/" generally indicates that the front-rear associated object is an or relationship.

The technical scheme provided by the embodiment of the invention can be applied to hip joint replacement scenes. Such as a hip replacement scenario implemented by a conventional handheld navigation system, or a hip replacement scenario implemented by a robotic-assisted navigation system. Hip joint replacement is a common operation for treating hip diseases clinically, is an effective clinical operation for treating severe hip pain, deformity and dysfunction, and is widely developed at home and abroad. Typically, the hip joint mainly comprises a femoral head and an acetabulum. In performing hip arthroplasty, the acetabulum is part of the pelvis in view of the fact that the femoral head is part of the femur, and therefore, the hip arthroplasty needs to be performed in combination with the entire femur and pelvis. For example, referring to fig. 1 and 2, fig. 1 is a schematic structural view of a pelvis provided in the prior art, and in combination with fig. 1, it can be seen that the pelvis includes anterior superior iliac spines points on the left and right sides and a center point of rotation on the left and right sides, and fig. 2 is a schematic structural view of a femur provided in the prior art, and in combination with fig. 2, it can be seen that the femur includes femoral head points on the left and right sides and a center point of a proximal intramedullary cavity and a center point of a distal intramedullary cavity.

After the hip replacement operation, the patient is easy to have the problem of unequal lengths of the two lower limbs. To avoid this problem, it is often necessary to palpation the distal femur or ankle joint during surgery while the patient is supine to make a manual measurement of the length of the lower limb, and to perform femoral prosthesis implantation in combination with the measured length of the lower limb. However, the above method has limitations, such that the accuracy of the manually measured lower limb length is low, and thus, the femoral prosthesis implantation is performed in combination with the lower limb length with low accuracy, which results in low accuracy of the femoral prosthesis implantation.

In order to improve the accuracy of femoral prosthesis implantation, the embodiment of the invention provides a femoral prosthesis implantation method, which can combine a femoral prosthesis and pelvis in a first hip joint three-dimensional model according to positions of a plurality of points selected on a real femur in operation and a first hip joint three-dimensional model constructed based on a three-dimensional lower limb medical image before operation to obtain a second hip joint three-dimensional model; performing femoral rotation treatment on the second hip joint three-dimensional model according to the femoral rotation center of the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model; and determining the length of the lower limb based on the third hip joint three-dimensional model, and controlling the implantation operation of the femoral prosthesis according to the length of the lower limb and the preset length of the lower limb determined based on the first hip joint three-dimensional model before operation. The implantation operation of the femoral prosthesis is controlled and executed based on the predicted lower limb length in the operation and the preset lower limb length planned before the operation, so that the accuracy of femoral prosthesis implantation is effectively improved, and the problem that the lengths of the two lower limbs are unequal easily after hip joint replacement operation is solved. Wherein, the force line is the connection line between the center of the femoral head and the center of the distal end of the femur. For example, referring to fig. 3, fig. 3 is a schematic view of a distal femoral center as provided in the prior art.

Illustratively, the preoperative first three-dimensional model of the hip joint may be a three-dimensional model of the hip joint for which no orthostatic operation is performed; the model can also be a three-dimensional model of the hip joint after the correction operation is executed; the setting can be specifically performed according to actual needs.

The three-dimensional model of the hip joint, which does not perform the correcting operation, can be understood as a three-dimensional model of the hip joint which performs hip joint segmentation on the acquired three-dimensional lower limb medical image and is directly constructed based on the segmentation result. The three-dimensional model of the hip joint after performing the tuning operation may be understood as a three-dimensional model of the hip joint obtained after performing the tuning operation on the three-dimensional model of the hip joint directly constructed based on the segmentation result.

Illustratively, in the embodiment of the invention, the connecting line between the anterior superior iliac spines points on the left and right sides of the three-dimensional model of the hip joint after performing the righting operation is parallel to the X axis of the three-dimensional lower limb medical image and parallel to the coronal plane of the three-dimensional lower limb medical image; or, a connecting line between the anterior superior iliac spines points on the left side and the right side in the three-dimensional hip joint model after the correction operation is executed is parallel to the X axis of the three-dimensional lower limb medical image, and a plane formed by the anterior superior iliac spines points and the pubic symphysis points on the left side and the right side is parallel to the coronal plane of the three-dimensional lower limb medical image, and the three-dimensional hip joint three-dimensional model can be specifically set according to actual needs.

The method of implanting the femoral prosthesis according to the present invention will be described in detail with reference to the following several specific examples. It is to be understood that the following embodiments may be combined with each other and that some embodiments may not be repeated for the same or similar concepts or processes.

Fig. 4 is a flowchart of a method for implanting a femoral prosthesis according to an embodiment of the present invention, which may be performed by a software and/or hardware device. For example, referring to fig. 4, the method of implanting a femoral prosthesis may include:

s401, combining the femur prosthesis and pelvis in the first hip joint three-dimensional model according to positions of a plurality of points selected on a real femur in operation and the first hip joint three-dimensional model constructed based on three-dimensional lower limb medical images before operation to obtain a second hip joint three-dimensional model.

For example, a plurality of points selected by the probe on the real femur may be used in the operation, and respective positions of the plurality of points are determined according to the tracer, so that respective positions of the plurality of points selected on the real femur may be obtained.

For example, when combining a femoral prosthesis with a pelvis in a first hip three-dimensional model based on a first hip three-dimensional model constructed from intraoperatively selected locations of a plurality of points on a real femur and a preoperatively based on a three-dimensional lower limb medical image, a registration matrix of the real femur to the first hip three-dimensional model may be determined from the intraoperatively selected locations of the plurality of points on the real femur and the first hip three-dimensional model; determining the implantation position and the implantation angle of the femoral prosthesis under the first hip joint three-dimensional model according to the implantation position and the implantation angle of the femoral prosthesis on the real femur and the registration matrix; and combining the femur prosthesis with the pelvis in the first hip joint three-dimensional model according to the implantation position and the implantation angle of the femur prosthesis under the first hip joint three-dimensional model, so that a complete joint three-dimensional model can be obtained and can be recorded as a second hip joint three-dimensional model.

For example, in the embodiment of the present invention, the first three-dimensional model of the hip joint before surgery may be a three-dimensional model of the hip joint without performing the righting operation, for example, as shown in fig. 5, fig. 5 is a schematic diagram of a three-dimensional medical image of a lower limb without performing the righting operation provided in the embodiment of the present invention, and as can be seen in conjunction with fig. 5, the human body is not right when viewed from right in front of the screen; the first three-dimensional model of the hip joint before operation may also be a three-dimensional model of the hip joint after performing the righting operation, for example, as shown in fig. 6, fig. 6 is a schematic diagram of a three-dimensional lower limb medical image for performing the righting operation provided in the embodiment of the present invention, and as can be seen in conjunction with fig. 6, the human body is right when viewed from the right front of the screen, and may be specifically set according to actual needs.

For example, when the first three-dimensional model of the hip joint before the operation is the three-dimensional model of the hip joint for which the correction operation is not performed, a three-dimensional lower limb medical image may be acquired before the operation when the first three-dimensional model of the hip joint is acquired; and performing hip joint segmentation on the three-dimensional lower limb medical image, and reconstructing a hip joint three-dimensional model based on the segmentation result, wherein the reconstructed hip joint three-dimensional model is the first hip joint three-dimensional model which does not execute the correcting operation.

When the preoperative first hip joint three-dimensional model is a hip joint three-dimensional model after performing the correcting operation, determining an anterior superior iliac spine point, a pubic symphysis point, a femoral center point, a proximal intramedullary cavity center point and a distal intramedullary cavity center point in the reconstructed hip joint three-dimensional model when the first hip joint three-dimensional model is acquired; and performing a correcting operation on the reconstructed three-dimensional model of the hip joint based on the osseous points, wherein the obtained three-dimensional model of the hip joint is the first three-dimensional model of the hip joint for performing the correcting operation. Illustratively, in embodiments of the present invention, when performing a tuning operation on a reconstructed three-dimensional model of a hip joint, at least two possible implementations may be included:

in one possible implementation manner, the correcting operation can be performed on the reconstructed three-dimensional model of the hip joint according to anterior-superior iliac spines points on the left side and the right side of the reconstructed three-dimensional model of the hip joint, so as to obtain a three-dimensional model of the first hip joint; the connecting line between the anterior superior iliac spine points on the left side and the right side of the first hip joint three-dimensional model is parallel to the X axis of the three-dimensional lower limb medical image and parallel to the coronal plane of the three-dimensional lower limb medical image.

Or,

in another possible implementation manner, the correcting operation can be performed on the reconstructed three-dimensional hip joint model according to the anterior superior iliac spine points and pubic symphysis points on the left side and the right side of the reconstructed three-dimensional hip joint model to obtain a first three-dimensional hip joint model; the connecting line between the anterior superior iliac spines points on the left side and the right side of the first hip joint three-dimensional model is parallel to the X axis of the three-dimensional lower limb medical image, and the plane formed by the anterior superior iliac spines points and the pubic symphysis points on the left side and the right side is parallel to the coronal plane of the three-dimensional lower limb medical image.

It will be appreciated that in the embodiment of the present invention, the above two possible implementation manners are merely used to illustrate the operation of performing the correction operation on the reconstructed three-dimensional model of the hip joint, and may be specifically set according to actual needs.

Illustratively, in embodiments of the present invention, in determining a registration matrix of a real femur to a first hip three-dimensional model from a location of a plurality of points selected intraoperatively on the real femur and the first hip three-dimensional model, at least two possible implementations may be included:

in one possible implementation, coarse registration may be performed before fine registration, to obtain a registration matrix of the real femur to the first hip joint three-dimensional model.

For example, in this possible implementation, a first preset number of points may be selected on the three-dimensional lower limb medical image as registration points when coarse registration is first performed; in operation, selecting a corresponding first preset number of alignment points on a real femur, wherein in general, the number of points selected by the rough registration operation is smaller, as shown in fig. 7, fig. 7 is a schematic diagram of selecting a corresponding plurality of points on the real femur, and determining the position of each alignment point by using a probe according to the embodiment of the present invention; and then, calculating and obtaining a coarse registration matrix of the real femur to the first hip joint three-dimensional model by adopting a rigid registration algorithm.

After the coarse registration matrix is obtained, fine registration is performed. When performing fine registration, a corresponding second preset number of points can be selected on the real femur, and in general, the number of points selected by the fine registration operation is more, that is, the second preset number is greater than the first preset number, as shown in fig. 8, fig. 8 is a schematic diagram of selecting a corresponding plurality of points on the real femur according to another embodiment of the present invention, and a probe is used to determine the position of each point; and then calculating and obtaining a fine registration matrix of the real femur to the first hip joint three-dimensional model according to the coarse registration matrix, wherein the fine registration matrix is the registration matrix for determining the real femur to the first hip joint three-dimensional model.

In another possible implementation, the fine registration may be performed directly, obtaining a registration matrix of the real femur to the first hip joint three-dimensional model.

Illustratively, in such a possible implementation, when performing fine registration, a corresponding second preset number of points may be selected on the real femur, illustratively as shown in fig. 8 above, and the probe used to determine the location of each point; and then, calculating and obtaining a fine registration matrix of the real femur to the first hip joint three-dimensional model by adopting a latest iterative algorithm, wherein the fine registration matrix is the registration matrix for determining the real femur to the first hip joint three-dimensional model.

In determining the implantation position and the implantation angle of the femoral prosthesis in the first three-dimensional model of the hip joint according to the implantation position, the implantation angle and the registration matrix of the femoral prosthesis on the real femur, it can be understood that when the femoral prosthesis is implanted on the real femur, the size of the femoral prosthesis is determined based on the preset size of the femoral prosthesis planned before operation, the implantation position and the implantation angle of the femoral prosthesis on the real femur are generated after the femoral prosthesis is implanted based on the preset implantation position and the preset implantation angle planned before operation, and of course, in the implantation process of the femoral prosthesis, the actual implantation position and the implantation angle of the femoral prosthesis may have implantation errors; in this case, the femoral neck probe may be placed on the implanted femoral prosthesis, and the implantation position and the implantation angle of the femoral prosthesis on the real femur may be measured, as shown in fig. 9, fig. 9 is a schematic diagram of the femoral neck probe provided in the embodiment of the present invention, so as to obtain the implantation position and the implantation angle of the femoral prosthesis on the real femur. After the implantation position and the implantation angle of the femoral prosthesis on the real femur are obtained, the implantation position and the implantation angle of the femoral prosthesis under the first hip joint three-dimensional model can be determined by combining the registration matrix.

In the embodiment of the present invention, the preset size of the femoral prosthesis, the preset implantation position of the femoral prosthesis on the real femur, and the preset implantation angle are planned before the operation, and the preset lower limb length planned before the operation is obtained.

It will be appreciated that in S401, the femoral prosthesis may also be replaced by a femoral trial, taking into account the cost of the femoral prosthesis. When the femur test is adopted, the corresponding implementation method is similar to the implementation method corresponding to the femur prosthesis, and reference may be made to the above description about the implementation method corresponding to the femur prosthesis, and here, the embodiment of the present invention will not be repeated for the implementation method corresponding to the femur test. Of course, if the cost of the femoral prosthesis is not considered, the femoral prosthesis can be directly adopted, and the setting can be specifically performed according to actual needs.

After the above-mentioned combining the femur prosthesis and the pelvis in the first hip joint three-dimensional model to obtain the complete second hip joint three-dimensional model, the femur rotation processing may be performed on the second hip joint three-dimensional model, that is, the following S402 is executed:

s402, performing femoral rotation treatment on the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model.

It can be understood that, in the embodiment of the present invention, if the first hip joint model used for combining to obtain the second hip joint three-dimensional model is a hip joint three-dimensional model in which no correction operation is performed, a line-of-force vertical target plane of the third hip joint three-dimensional model is obtained by performing femoral rotation processing on the second hip joint three-dimensional model, where the target plane is a plane passing through anterior superior iliac spines points on the left and right sides of the third hip joint three-dimensional model and being vertical to a coronal plane of the three-dimensional lower limb medical image. If the first hip joint model used for combining to obtain the second hip joint three-dimensional model is the hip joint three-dimensional model after the correcting operation is executed, the femur rotation processing is carried out on the second hip joint three-dimensional model, and the cross section of the force line vertical three-dimensional lower limb medical image of the third hip joint three-dimensional model is obtained.

For example, when performing the femoral rotation processing on the second hip joint three-dimensional model, the femoral rotation processing may be performed on the second hip joint three-dimensional model according to an acetabular center or a femoral rotation center, and may specifically be set according to actual needs. For example, referring to fig. 10, fig. 10 is a schematic view of a femur and acetabulum, in accordance with an embodiment of the present invention.

Taking a femur rotation center as an example, when performing femur rotation processing on the second hip joint three-dimensional model according to the femur rotation center, under the condition that an acetabular prosthesis is implanted in an operation, the femur rotation center can be determined firstly according to the offset distance of the liner along the normal direction of the acetabular cup and the offset distance of the ball head along the normal direction of the acetabular cup; and performing femur rotation treatment on the second hip joint three-dimensional model according to the femur rotation center to obtain a third hip joint three-dimensional model.

Wherein, the normal direction of the mortar cup: the rotation center of the cup is crossed, the rotation center is perpendicular to the plane of the cup mouth, and the direction is outwards or the rotation center is pointed by the intersection point of the normal line and the hemispherical of the cup.

Cup liner offset: distance between the center of rotation of the cup liner and the center of rotation of the cup. The vector from the cup center of rotation to the cup liner center of rotation is parallel to the cup normal, and the negative sign indicates opposite direction.

Ball head offset: the distance between the rotation center point of the ball head and the placement point of the front end of the femur neck. The vector from the front end placement point of the femoral neck to the rotation center point of the ball head is parallel to the normal direction of the femoral neck, and the negative sign indicates the opposite direction. The front end placement point of the femoral neck refers to the center point of a matched installation plane of the femoral neck and the ball head.

Illustratively, when determining the femoral rotation center according to the cup rotation center of the acetabular prosthesis, the offset distance of the liner along the cup normal direction and the offset distance of the ball head along the cup normal direction, the femoral rotation center may be determined according to p=p1+p2+p3; wherein P represents the rotation center of the femur, P1 represents the rotation center of the cup, P2 represents the offset distance of the liner along the normal direction of the cup, and P3 represents the offset distance of the ball head along the normal direction of the cup.

It will be appreciated that in determining the rotation center of the femur, the above description is given only by taking the determination of the rotation center of the femur as an example, according to the rotation center of the cup of the implanted acetabular prosthesis, the offset distance of the liner along the normal direction of the cup and the offset distance of the ball head along the normal direction of the cup; under the condition that the acetabular prosthesis is not implanted, the above-mentioned acetabular cup rotation center used for determining the femur rotation center, the offset distance of the liner along the normal direction of the acetabular cup and the offset distance of the ball head along the normal direction of the acetabular cup can be the acetabular cup rotation center of the acetabular prosthesis planned before operation, the offset distance of the liner along the normal direction of the acetabular cup and the offset distance of the ball head along the normal direction of the acetabular cup. The method for determining the femur rotation center based on the offset distance of the liner along the normal direction of the cup and the offset distance of the ball head along the normal direction of the cup of the acetabular prosthesis planned before operation is similar to the method for determining the femur rotation center based on the offset distance of the liner along the normal direction of the cup and the offset distance of the ball head along the normal direction of the cup of the acetabular prosthesis implanted in the above description, which is described in detail herein, the embodiment of the invention is omitted.

After the rotated third three-dimensional model of the hip joint is obtained, the length of the lower limb can be further determined, and the implantation operation of the femoral prosthesis is controlled to be performed according to the length of the lower limb and the preset length of the lower limb determined based on the first three-dimensional model of the hip joint before operation, that is, the following S403 is performed:

s403, predicting the length of the lower limb based on the third hip joint three-dimensional model, and controlling the implantation operation of the femoral prosthesis to be executed according to the length of the lower limb and the preset length of the lower limb determined based on the first hip joint three-dimensional model before operation.

The pre-set lower limb length determined before the operation, namely the pre-set lower limb length planned before the operation, can be used as a reference of the length of the lower limb during the operation and used for guiding the determination of the length of the lower limb during the operation.

For example, when the preset lower limb length is determined based on the first hip joint three-dimensional model before the operation, in combination with the description in S401 above, the hip joint three-dimensional model in which the correcting operation is not performed may be considered; or a three-dimensional model of the hip joint after performing the righting operation. Thus, preoperatively determining the preset lower limb length based on the first hip three-dimensional model includes at least two possible implementations:

in one possible implementation, assuming that the preoperative first three-dimensional hip joint model is a three-dimensional hip joint model that does not perform the correcting operation, determining the preset lower limb length based on the first three-dimensional hip joint model may include:

First, femur rotation processing is performed on the first hip joint three-dimensional model, and a processed hip joint three-dimensional model can be recorded as a fourth hip joint model. The force line of the fourth hip joint model is vertical to a first plane, and the first plane is a plane which passes through anterior superior iliac spines points on the left side and the right side of the fourth hip joint three-dimensional model and is vertical to a coronal plane of the three-dimensional lower limb medical image.

It can be appreciated that in this possible implementation manner, the method for performing the femoral rotation processing on the first three-dimensional hip joint model is similar to the method for performing the femoral rotation processing on the second three-dimensional hip joint model in S402, and reference may be made to the description of performing the femoral rotation processing on the second three-dimensional hip joint model in S402, which is not repeated herein.

And after the femur rotation treatment is carried out to obtain a fourth hip joint three-dimensional model, determining the distance between the small tuberosity and the first plane in the fourth hip joint three-dimensional model as the first initial lower limb length.

Finally, determining the length of a first initial lower limb, planning the size of the femoral prosthesis required to be adopted in the hip joint replacement operation according to the length of the first initial lower limb, virtually implanting the femoral prosthesis according to a default implantation position and implantation angle, and judging whether the implanted femoral prosthesis meets preset requirements, such as the fitting condition, eccentricity and the like of the femoral prosthesis and a real femur; if the preset requirements are not met, at least one of the size, the implantation position, the implantation angle, the ball head or the lining of the femoral prosthesis which is required to be adopted in the hip joint replacement operation can be adjusted; if the implantation position and the implantation angle of the femoral prosthesis needed to be adopted in the hip joint replacement operation are adjusted, the new length of the lower limb is recalculated, the femoral prosthesis is implanted according to the adjusted implantation position and the adjusted implantation angle, and then whether the femoral prosthesis meets the preset requirement after implantation is judged until the femoral prosthesis meets the preset requirement after implantation; the length of the lower limb corresponding to the preset requirement is determined as the length of the preset lower limb planned before operation, the size of the femoral prosthesis corresponding to the preset requirement is determined as the preset size planned before operation, the implantation position corresponding to the preset requirement is determined as the preset implantation position planned before operation, the implantation angle corresponding to the preset requirement is determined as the preset implantation angle planned before operation, and the preset implantation angle is used for providing reference basis for the subsequent hip replacement operation, for example, as shown in fig. 11, fig. 11 is a schematic diagram of a result of the preoperation planning provided by the embodiment of the invention.

In another possible implementation, assuming that the preoperative first three-dimensional model of the hip joint is the three-dimensional model of the hip joint performing the correcting operation, determining the preset lower limb length based on the first three-dimensional model of the hip joint may include:

first, performing femoral rotation treatment on the first three-dimensional model of the hip joint to obtain a treated three-dimensional model of the hip joint, which can be recorded as a fifth model of the hip joint. The force line of the fifth hip joint model is perpendicular to the cross section of the three-dimensional lower limb medical image, and correspondingly, the plane formed by the acetabulum center of the fifth hip joint three-dimensional model and the force line is also necessarily parallel to the coronal plane of the three-dimensional lower limb medical image.

After the femur rotation treatment is carried out to obtain a fifth hip joint three-dimensional model, determining the distance between the cross sections of the planes of the front upper iliac spines points on the left side and the right side of the small tuberosity of the fifth hip joint three-dimensional model as the length of the second initial lower limb.

Finally, determining the length of a second initial lower limb, planning the size of the femoral prosthesis required to be adopted in the hip joint replacement operation according to the length of the second initial lower limb, virtually implanting the femoral prosthesis according to a default implantation position and implantation angle, and judging whether the implanted femoral prosthesis meets preset requirements, such as the fitting condition of the femoral prosthesis and a real femur, the length of the lower limb and the like; if the preset requirements are not met, at least one of the size, the implantation position, the implantation angle, the ball head or the lining of the femoral prosthesis which is required to be adopted in the hip joint replacement operation can be adjusted; if the implantation position and the implantation angle of the femoral prosthesis needed to be adopted in the hip joint replacement operation are adjusted, the new length of the lower limb is recalculated, the femoral prosthesis is implanted according to the adjusted implantation position and the adjusted implantation angle, and then whether the femoral prosthesis meets the preset requirement after implantation is judged until the femoral prosthesis meets the preset requirement after implantation; the length of the lower limb corresponding to the preset requirement is determined to be the preset lower limb length of the preoperative plan, the size of the femoral prosthesis corresponding to the preset requirement is determined to be the preset size of the preoperative plan, the implantation position corresponding to the preset requirement is determined to be the preset implantation position of the preoperative plan, the implantation angle corresponding to the preset requirement is determined to be the preset implantation angle of the preoperative plan, and the reference basis is provided for the subsequent hip replacement operation.

For example, in the embodiment of the present invention, when the lower limb length is predicted based on the third hip joint three-dimensional model in the operation, the method for predicting the lower limb length is related to the method for determining the pre-operation preset lower limb length, and may include at least two possible implementation manners as follows:

in one possible implementation manner, when the preset lower limb length planned before the operation is determined based on the first hip joint three-dimensional model which does not perform the correcting operation, correspondingly, when the lower limb length is determined based on the third hip joint three-dimensional model during the operation, the distance between the small tuberosity in the third hip joint three-dimensional model and the target plane can be determined as the predicted lower limb length; the target plane is a plane which passes through anterior superior iliac spines points on the left side and the right side of the third hip joint three-dimensional model and is perpendicular to the coronal plane of the three-dimensional lower limb medical image.

In another possible implementation manner, when the preset lower limb length planned before operation is determined based on the first hip joint three-dimensional model performing the correcting operation, the distance between the cross sections of the plane from the small tuberosity to the anterior superior iliac spine points on the left side and the right side of the third hip joint three-dimensional model may be determined as the predicted lower limb length, for example, as shown in fig. 12, fig. 12 is a schematic diagram of the predicted lower limb length during operation provided in the embodiment of the present invention, and the distance between the cross sections of the plane from the small tuberosity to the anterior superior iliac spine points on the left side and the right side may be determined as the predicted lower limb length.

After the preset lower limb length of the preoperative plan and the preset lower limb length of the preoperative plan are respectively obtained, whether the difference value between the lower limb length and the preset lower limb length is smaller than a preset threshold value or not can be judged, so that the change difference value between the preset lower limb length of the preoperative plan and the preset lower limb length of the preoperative plan can be seen through comparing the preset lower limb length of the preoperative plan and the preset lower limb length of the preoperative plan, and a reference can be provided for the implantation of the femoral prosthesis, thereby effectively improving the implantation accuracy of the femoral prosthesis. The value of the preset threshold can be set according to actual needs, and the embodiment of the invention is not limited further for the specific value of the preset threshold.

In the case that the difference between the length of the lower limb and the length of the preset lower limb is less than or equal to the preset threshold, it is explained that the size of the femoral prosthesis, the implantation position and the implantation angle of the femoral prosthesis used in the operation are accurate, and therefore, the implantation operation of the femoral prosthesis can be controlled to be performed directly based on the implantation position and the implantation angle of the femoral prosthesis preset before the operation.

Under the condition that the difference value between the length of the lower limb and the length of the preset lower limb is larger than a preset threshold value, the dimension of the femoral prosthesis adopted in the operation, the implantation position and the implantation angle of the femoral prosthesis are inaccurate, so that at least one of the femoral prosthesis, the implantation position, the implantation angle, the ball head and the lining in the operation can be replaced; and re-predicting the length of the new lower limb based on the adjusted three-dimensional model of the hip joint until the difference value between the re-predicted length of the lower limb and the preset length of the lower limb is smaller than a preset threshold value, and controlling the implantation operation of the femoral prosthesis to be executed based on the implantation position and the implantation angle corresponding to the implantation position and the implantation angle of the femoral prosthesis when the difference value is smaller than the preset threshold value, thereby completing the implantation operation of the femoral prosthesis.

It can be seen that, in the embodiment of the present invention, when the implantation operation of the femoral prosthesis is controlled to be executed, the femoral prosthesis and the pelvis in the first hip joint three-dimensional model are combined according to the positions of a plurality of points selected on the real femur during the operation and the first hip joint three-dimensional model constructed based on the three-dimensional lower limb medical image before the operation, so as to obtain the second hip joint three-dimensional model; performing femur rotation treatment on the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model; and predicting the length of the lower limb based on the third hip joint three-dimensional model, and controlling the implantation operation of the femoral prosthesis to be executed according to the length of the lower limb and the preset length of the lower limb determined based on the first hip joint three-dimensional model before operation. The implantation operation of the femoral prosthesis is controlled and executed based on the lower limb length determined in the operation and the preset lower limb length planned before the operation, so that the accuracy of femoral prosthesis implantation is effectively improved, and the problem that the lengths of the two lower limbs are unequal easily after hip joint replacement operation is solved.

The following describes the implantation device of the femoral prosthesis provided by the invention, and the implantation device of the femoral prosthesis and the implantation method of the femoral prosthesis described above can be correspondingly referred to each other.

Fig. 13 is a schematic structural diagram of a femoral prosthesis implantation device according to an embodiment of the present invention, for example, referring to fig. 13, the femoral prosthesis implantation device 130 may include:

a construction unit 1301, configured to combine the femoral prosthesis and the pelvis in the first hip joint three-dimensional model according to the positions of a plurality of points selected on the real femur during the operation and the first hip joint three-dimensional model constructed based on the three-dimensional lower limb medical image before the operation, to obtain a second hip joint three-dimensional model.

The rotation unit 1302 is configured to perform femoral rotation processing on the second three-dimensional hip joint model to obtain a third three-dimensional hip joint model.

And a prediction unit 1303 for predicting a lower limb length based on the third hip joint three-dimensional model.

A control unit 1304 for controlling the implantation operation of the femoral prosthesis according to the length of the lower limb and the pre-set length of the lower limb determined based on the first three-dimensional model of the hip joint before operation.

Optionally, the predicting unit 1303 is specifically configured to determine, as the length of the lower limb, a distance between the small tuberosity of the third hip joint three-dimensional model and the target plane, where the force line of the third hip joint three-dimensional model is perpendicular to the target plane if the first hip joint three-dimensional model is the hip joint three-dimensional model that does not perform the correcting operation; the target plane is a plane which passes through anterior superior iliac spines points on the left side and the right side of the third hip joint three-dimensional model and is perpendicular to the coronal plane of the three-dimensional lower limb medical image;

Or,

if the first three-dimensional model of the hip joint is the three-dimensional model of the hip joint after the correcting operation is executed, the force line of the three-dimensional model of the third hip joint is vertical to the cross section of the three-dimensional medical image of the lower limb, and the distance between the cross sections from the middle and small tuberosity of the three-dimensional model of the third hip joint to the plane of the anterior superior iliac spine points on the left side and the right side is determined as the length of the lower limb.

Optionally, the first three-dimensional model of the hip joint is a three-dimensional model of the hip joint after performing the revision surgery, and the femoral prosthesis implantation apparatus 130 further includes a reconstruction unit and a revision unit.

The correcting unit is used for executing correcting operation on the reconstructed three-dimensional model of the hip joint according to the anterior superior iliac spines points on the left side and the right side of the reconstructed three-dimensional model of the hip joint to obtain a three-dimensional model of the first hip joint; wherein, the connecting line between the anterior superior iliac spine points on the left side and the right side of the first hip joint three-dimensional model is parallel to the X axis of the three-dimensional lower limb medical image and parallel to the coronal plane of the three-dimensional lower limb medical image; or, according to the anterior superior iliac spine points and pubic bone joint points on the left side and the right side of the reconstructed three-dimensional model of the hip joint, performing a correcting operation on the reconstructed three-dimensional model of the hip joint to obtain a three-dimensional model of the first hip joint; the connecting line between the anterior superior iliac spines points on the left side and the right side of the first hip joint three-dimensional model is parallel to the X axis of the three-dimensional lower limb medical image, and the plane formed by the anterior superior iliac spines points and the pubic symphysis points on the left side and the right side is parallel to the coronal plane of the three-dimensional lower limb medical image.

Optionally, the rotation unit 1302 is specifically configured to determine, if the acetabular prosthesis is implanted, a femoral rotation center according to a cup rotation center of the acetabular prosthesis, an offset distance of the liner along a cup normal direction, and an offset distance of the ball head along the cup normal direction; and performing femur rotation treatment on the second hip joint three-dimensional model according to the femur rotation center to obtain a third hip joint three-dimensional model.

Optionally, the rotation unit 1302 is specifically configured to determine a femoral rotation center according to p=p1+p2+p3.

Wherein P represents the rotation center of the femur, P1 represents the rotation center of the cup, P2 represents the offset distance of the liner along the normal direction of the cup, and P3 represents the offset distance of the ball head along the normal direction of the cup.

Optionally, the construction unit 1301 is specifically configured to determine a registration matrix from the real femur to the first hip joint three-dimensional model according to the positions of the plurality of points selected on the real femur during the operation and the first hip joint three-dimensional model; determining the implantation position and the implantation angle of the femoral prosthesis under the first hip joint three-dimensional model according to the implantation position and the implantation angle of the femoral prosthesis on the real femur and the registration matrix; combining the femoral prosthesis with the pelvis in the first hip joint three-dimensional model according to the implantation position and the implantation angle of the femoral prosthesis under the first hip joint three-dimensional model.

Optionally, the control unit 1304 is specifically configured to determine whether a difference between the length of the lower limb and the preset length of the lower limb is less than a preset threshold; if the difference value between the length of the lower limb and the length of the preset lower limb is smaller than or equal to a preset threshold value, controlling the implantation operation of the femoral prosthesis to be executed based on the implantation position and the implantation angle of the femoral prosthesis preset before operation; if the difference value between the length of the lower limb and the length of the preset lower limb is larger than a preset threshold value, replacing at least one of the femoral prosthesis, the implantation position, the implantation angle, the bulb and the lining in operation; and re-predicting the new lower limb length based on the adjusted three-dimensional model of the hip joint until the difference value between the re-determined lower limb length and the preset lower limb length is smaller than a preset threshold value, and controlling the implantation operation of the femoral prosthesis to be executed based on the implantation position and the implantation angle corresponding to the implantation position and the implantation angle of the femoral prosthesis corresponding to the time when the difference value is smaller than the preset threshold value.

Optionally, the construction unit 1301 is specifically configured to determine, according to the position of the first preset number of points selected on the real femur during the operation, a coarse registration matrix from the real femur to the first hip joint three-dimensional model by using a rigid registration algorithm; determining a fine registration matrix from the real femur to the first hip joint three-dimensional model according to the coarse registration matrix; the fine registration matrix is a registration matrix.

Optionally, the construction unit 1301 is specifically configured to determine, according to a position of a second preset number of points selected on the real femur during the operation, a fine registration matrix from the real femur to the first hip joint three-dimensional model by using a nearest iteration algorithm; the fine registration matrix is a registration matrix.

Optionally, if the first three-dimensional model of the hip joint is a three-dimensional model of the hip joint that does not perform the righting operation, the construction unit 1301 is further configured to: performing hip joint segmentation on the three-dimensional lower limb medical image to obtain a segmentation result; and constructing a first hip joint three-dimensional model based on the segmentation result.

The implementation principle and the beneficial effects of the implantation device 130 of the femoral prosthesis provided in the embodiment of the present invention may be similar to those of the implantation method of the femoral prosthesis, and reference may be made to the implementation principle and the beneficial effects of the implantation method of the femoral prosthesis, which will not be described here.

Fig. 14 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 14, where the electronic device may include: processor 1410, communication interface (Communications Interface) 1420, memory 1430 and communication bus 1440, wherein processor 1410, communication interface 1420 and memory 1430 communicate with each other via communication bus 1440. Processor 1410 may invoke logic instructions in memory 1430 to perform a method of implantation of a femoral prosthesis, the method comprising: combining the femur prosthesis and pelvis in the first hip joint three-dimensional model according to the positions of a plurality of points selected on the real femur in operation and the first hip joint three-dimensional model constructed based on the three-dimensional lower limb medical image before operation to obtain a second hip joint three-dimensional model; performing femur rotation treatment on the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model; and predicting the length of the lower limb based on the third hip joint three-dimensional model, and controlling the implantation operation of the femoral prosthesis to be executed according to the length of the lower limb and the preset length of the lower limb determined based on the first hip joint three-dimensional model before operation.

In addition, the logic instructions in the memory 1430 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing a method of implanting a femoral prosthesis provided by the methods described above, the method comprising: combining the femur prosthesis and pelvis in the first hip joint three-dimensional model according to the positions of a plurality of points selected on the real femur in operation and the first hip joint three-dimensional model constructed based on the three-dimensional lower limb medical image before operation to obtain a second hip joint three-dimensional model; performing femur rotation treatment on the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model; and predicting the length of the lower limb based on the third hip joint three-dimensional model, and controlling the implantation operation of the femoral prosthesis to be executed according to the length of the lower limb and the preset length of the lower limb determined based on the first hip joint three-dimensional model before operation.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform a method of implanting a femoral prosthesis provided by the above methods, the method comprising: combining the femur prosthesis and pelvis in the first hip joint three-dimensional model according to the positions of a plurality of points selected on the real femur in operation and the first hip joint three-dimensional model constructed based on the three-dimensional lower limb medical image before operation to obtain a second hip joint three-dimensional model; performing femur rotation treatment on the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model; and predicting the length of the lower limb based on the third hip joint three-dimensional model, and controlling the implantation operation of the femoral prosthesis to be executed according to the length of the lower limb and the preset length of the lower limb determined based on the first hip joint three-dimensional model before operation.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An implant device for a femoral prosthesis, comprising:

the construction unit is used for combining the femur prosthesis and pelvis in the first hip joint three-dimensional model according to positions of a plurality of points selected on a real femur in an operation and the first hip joint three-dimensional model constructed on the basis of three-dimensional lower limb medical images before the operation to obtain a second hip joint three-dimensional model;

the rotation unit is used for performing femoral rotation treatment on the second hip joint three-dimensional model to obtain a third hip joint three-dimensional model;

a prediction unit for predicting a lower limb length based on the third hip joint three-dimensional model;

2. The femoral prosthesis implantation device of claim 1, wherein,

the prediction unit is specifically configured to: if the first three-dimensional model of the hip joint is a three-dimensional model of the hip joint which does not execute the correcting operation, enabling a force line of the three-dimensional model of the third hip joint to be perpendicular to a target plane, and determining a distance from a small tuberosity of the three-dimensional model of the third hip joint to the target plane as the length of the lower limb; the target plane is a plane which passes through anterior superior iliac spines points on the left side and the right side of the third hip joint three-dimensional model and is perpendicular to a coronal plane of the three-dimensional lower limb medical image;

Or,

3. The apparatus according to claim 2, wherein the first three-dimensional model of the hip joint is a three-dimensional model of the hip joint after performing the revision surgery, the apparatus further comprising a reconstruction unit and a revision unit;

the reconstruction unit is used for performing hip joint segmentation on the three-dimensional lower limb medical image, reconstructing a hip joint three-dimensional model based on a segmentation result, and obtaining a reconstructed hip joint three-dimensional model;

4. The device for implanting a femoral prosthesis according to any of claims 1 to 3,

the rotating unit is specifically configured to: if the acetabular prosthesis is implanted, determining a femur rotation center according to the offset distance of the liner along the normal direction of the acetabular cup and the offset distance of the ball head along the normal direction of the acetabular cup according to the acetabular cup rotation center of the acetabular prosthesis; and performing femoral rotation treatment on the second hip joint three-dimensional model according to the femoral rotation center to obtain the third hip joint three-dimensional model.

5. The femoral prosthesis implantation device of claim 4, wherein,

the rotating unit is specifically configured to: determining the femoral center of rotation from p=p1+p2+p3;

6. The device for implanting a femoral prosthesis according to any of claims 1 to 3,

the construction unit is specifically used for determining a registration matrix from the real femur to the first hip joint three-dimensional model according to positions of a plurality of points selected on the real femur in operation and the first hip joint three-dimensional model; determining the implantation position and the implantation angle of the femoral prosthesis under a first hip joint three-dimensional model according to the implantation position and the implantation angle of the femoral prosthesis on the real femur and the registration matrix; combining the femoral prosthesis with the pelvis in the first hip joint three-dimensional model according to the implantation position and the implantation angle of the femoral prosthesis in the first hip joint three-dimensional model.

7. The device for implanting a femoral prosthesis according to any of claims 1 to 3,

the control unit is specifically configured to determine whether a difference between the length of the lower limb and the preset length of the lower limb is smaller than a preset threshold; if the difference value between the length of the lower limb and the length of the preset lower limb is smaller than or equal to a preset threshold value, controlling the implantation operation of the femoral prosthesis based on the implantation position and the implantation angle of the femoral prosthesis preset before operation; if the difference value between the length of the lower limb and the length of the preset lower limb is larger than a preset threshold value, replacing at least one of the femoral prosthesis, the implantation position, the implantation angle, the bulb and the lining in operation; and re-predicting the new lower limb length based on the adjusted three-dimensional model of the hip joint until the difference value between the re-determined lower limb length and the preset lower limb length is smaller than a preset threshold value, and controlling the implantation operation of the femoral prosthesis to be executed based on the implantation position and the implantation angle corresponding to the implantation position and the implantation angle of the femoral prosthesis when the difference value is smaller than the preset threshold value.

8. The femoral prosthesis implantation device of claim 6, wherein,

the construction unit is specifically used for determining a coarse registration matrix from the real femur to the first hip joint three-dimensional model by adopting a rigid registration algorithm according to the positions of a first preset number of points selected on the real femur in operation; determining a fine registration matrix from the real femur to the first hip joint three-dimensional model according to the coarse registration matrix; wherein the fine registration matrix is the registration matrix; or, the construction unit is specifically configured to determine a fine registration matrix from the real femur to the first hip joint three-dimensional model by adopting a nearest iteration algorithm according to the positions of a second preset number of points selected on the real femur during surgery; wherein the fine registration matrix is the registration matrix.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements the steps of:

10. A non-transitory computer readable storage medium having stored thereon a computer program, the computer program when executed by a processor implementing the steps of: